It feels a bit dated sometimes, but I'm yet to find anything that comes close.
PDFjs was written in JS from day one, and (as far as I know) was not based on any previous PDF reader.
BTW, I didn't mean they necessarily used the actual Foxit code, but it was a starting point maybe reimplemented in JS.
DrawboardPDF if you want something more full featured and like to annotate, highlight, bookmark and whatnot, particularly if there's any chance you'll also use a stylus
But most importantly.. ALT+'left arrow' allows you to go back before you clicked on the citation! It doesn't work all the time, but usually it does after some left arrows ;)
Also, in Android: you can click on the 'scrolling sign' on the right of the pdf and specify the page, or see the link to 'jump back' to before you clicked on a link!
I hope that will help
STDU Viewer might also be worth looking into. Default shortcut for jumping back is ctrl+z.